CN105658933A - Integrated washing system for gas turbine engine - Google Patents

Integrated washing system for gas turbine engine Download PDF

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Publication number
CN105658933A
CN105658933A CN201480060415.6A CN201480060415A CN105658933A CN 105658933 A CN105658933 A CN 105658933A CN 201480060415 A CN201480060415 A CN 201480060415A CN 105658933 A CN105658933 A CN 105658933A
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CN
China
Prior art keywords
washing
import
axial compressor
gas turbine
compressor
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201480060415.6A
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Chinese (zh)
Other versions
CN105658933B (en
Inventor
P.莫里洛
G.皮特拉
D.马库奇
M.弗拉塔罗内
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Nuovo Pignone Technologie SRL
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Nuovo Pignone SRL
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Publication of CN105658933A publication Critical patent/CN105658933A/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02CGAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C7/00Features, components parts, details or accessories, not provided for in, or of interest apart form groups F02C1/00 - F02C6/00; Air intakes for jet-propulsion plants
    • F02C7/04Air intakes for gas-turbine plants or jet-propulsion plants
    • F02C7/05Air intakes for gas-turbine plants or jet-propulsion plants having provisions for obviating the penetration of damaging objects or particles
    • F02C7/052Air intakes for gas-turbine plants or jet-propulsion plants having provisions for obviating the penetration of damaging objects or particles with dust-separation devices
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01DNON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D25/00Component parts, details, or accessories, not provided for in, or of interest apart from, other groups
    • F01D25/002Cleaning of turbomachines
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02CGAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C7/00Features, components parts, details or accessories, not provided for in, or of interest apart form groups F02C1/00 - F02C6/00; Air intakes for jet-propulsion plants
    • F02C7/04Air intakes for gas-turbine plants or jet-propulsion plants
    • F02C7/05Air intakes for gas-turbine plants or jet-propulsion plants having provisions for obviating the penetration of damaging objects or particles
    • F02C7/055Air intakes for gas-turbine plants or jet-propulsion plants having provisions for obviating the penetration of damaging objects or particles with intake grids, screens or guards
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00Details, component parts, or accessories
    • F04D29/70Suction grids; Strainers; Dust separation; Cleaning
    • F04D29/701Suction grids; Strainers; Dust separation; Cleaning especially adapted for elastic fluid pumps
    • F04D29/705Adding liquids
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05DINDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2220/00Application
    • F05D2220/30Application in turbines
    • F05D2220/32Application in turbines in gas turbines
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05DINDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2230/00Manufacture
    • F05D2230/72Maintenance

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Filtering Of Dispersed Particles In Gases (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Engine Equipment That Uses Special Cycles (AREA)

Abstract

Awashing system is described for a gas turbine engine with an axial compressor (3), comprising: an inlet screen (30) at the air flow inlet of the compressor (3) to protect the compressor (3) from foreign object damage, an arrangement of nozzles and manifolds for spraying the washing liquid, and a washing liquid supply system connected to the arrangement; the inlet screen (30) comprises a supporting structure (10, 11, 12) and a filtering net (19) fixed to the supporting structure (10, 11, 12); the arrangement of nozzles and manifolds is integrated in said supporting structure of the inlet screen. FIGURE

Description

For the integrated washing system of gas turbine engine
Technical field
The embodiment of purport disclosed herein relates to the method for washing system, gas turbine engine and washing axial compressor.
Background technology
Gas turbine is widely used for generator, for gas compression, and be generally used for all application needing to rotate thermo-mechanical drive. The core parts of gas turbine engine are compressor, are sucked during operation by this compressor and compress large quantity of air. Heat is added to pressurized air by fuel nozzle, and the combustion gases drive turbine expanded, and can extract net horsepower from this turbine. The amount entering the air of compressor is extremely important factor for work-ing life of gas turbine and efficiency. This kind of air comprises the various types of materials being in aerosol form, such as dust and eroded particles. Even if most of particle leaves gas turbine by Exhaust Gas, but on the blade that the part in them still can be deposited on compressor and quiet leaf, especially on the leading section that they finally gather, thus make aerodynamic force worsen and therefore reduce efficiency and the performance of machine, thus the tremendous economic causing user is lost. The flux of deleterious particle also causes other problems, such as FOD (foreign body damage) and erosion. For all these reasons, it is necessary to take measures the amount controlling to enter the air of gas turbine. Normally, gas turbine inlet equipment has air filter, and air filter at least stops the particle with the size higher than certain minimum value. Enough particles with smaller szie through filter system, thus will adhere to and on the blade that accumulates in compressor and quiet leaf. This is called that the phenomenon of " fouling " makes needs often wash gas turbo-compressor regularly, to eliminate the settling of these particles on blade and quiet leaf, thus attempts to recover in this way the major part of compressor original performance. Usually by the washing of the following gas path realizing compressor: through the series of spray nozzles making wash fluid be atomized by this kind of fluid spray in compressor entrance, and make rotor rotation force wash fluid to pass compressor, until they leave at the rear portion place of machine. Usually, performing washing operation under two conditions, one is called " online ", because cleaning when power operation, and other washing methodss need machine stop production and be therefore called " off-line ". " online " washing is considered to lower than " off-line " efficiency, because machine operates under full load, and there is the restriction to the position placing nozzle. In fact, due to the very high speed of air, usually nozzle is placed on the position that airstream has low rate, and washing liq can otherwise due to the turbulent flow of flow of air and due to centrifugal force through, in the central authorities of flow of air, washing liq will move towards periphery away from blade. In addition, high temperature trends towards this washing liq is evaporated. The advantage of " online " method is machine continuously operating. " off-line " method needs to stop producing temporarily, because machine runs with the little per-cent of normal full load speed by means of only trigger in this case. In " off-line " washs, usually, the nozzle spraying wash fluid is arranged on the front of compressor low pressure first step blade. In the situation that " off-line " washs, during washing operation, engine rotation, scrapes dirt and do not cause turbulent flow and fluid does not apply strong centrifugal force with the energy only giving wash fluid enough, and fluid can be pushed away towards compressor housing by strong centrifugal force away from blade to be washed. The concrete location of washing system and the selection of assembling for detersive efficiency and are also important for gas turbine integrity.
According to prior art solution, spreading nozzle is making the inner side being directly arranged on the bell sleeve pipe (bellmouth) of gas turbine in compressor inlet along the position that the guiding of almost parallel with flow of air direction is sprayed. The inferior position of this solution is, in the case of a fault, nozzle can cause the damage of gas turbine.
Another prior art solution, in the situation of machine with radial air import, is to be fixed on inner radial spiral case nozzle.
The shortcoming of two solutions is, inside the flowing-path of nozzle in machinery, has the possibility forming flow deformation, and flow deformation will affect the performance of machine.
Therefore, recognize the necessity of the washing system of the improvement that can overcome described shortcoming.
Summary of the invention
By, in the supporting structure of import sieve that the device of the nozzle and manifold that are used for spraying washing liq is integrated in axial compressor flow of air ingress, obtaining very effective solution.
A first aspect of the present invention is washing system.
This washing system is for having the gas turbine engine of axial compressor, and comprises:
Import is sieved, and it is positioned at the flow of air ingress of axial compressor, and to protect, compressor does not damage by foreign body, and this import sieve comprises supporting structure and the filtering net being fixed to this supporting structure,
The device of nozzle and manifold, and
Washing liq supply system, it is connected to described device;
Wherein, described device is integrated in described supporting structure.
A second aspect of the present invention is gas turbine engine.
This gas turbine engine comprises:
Axial compressor,
Pumping chamber, it is positioned at the flow of air ingress of this axial compressor,
Import is sieved, and it is arranged in this pumping chamber, and to protect, this compressor does not damage by foreign body, and this import sieve comprises supporting structure and is fixed to the filtering net of this supporting structure,
The device of nozzle and manifold, and
Washing liq supply system, it is connected to described device and is integrated in described supporting structure.
A third aspect of the present invention is the method for the axial compressor of washing gas turbine engine.
According to the method, import sieve is positioned at the flow of air ingress of this axial compressor, and washing liq supply system is integrated in described import sieve.
Accompanying drawing explanation
The accompanying drawing being incorporated herein and form a specification sheets part is exemplified with embodiments of the invention, and explains these embodiments together with embodiment. In the accompanying drawings:
Fig. 1 is the vertical section figure of gas turbine engine,
Fig. 2 is the vertical section figure of the bell sleeve pipe of the gas turbine engine according to prior art,
Fig. 3 is the vertical section figure of the entry zone of the gas turbine engine according to prior art,
Fig. 4 is the skeleton view (the FOD sieve specifically illustrating in pumping chamber) of the entry zone of the embodiment of gas turbine,
Fig. 5 is the exploded view of some in the component of the gas turbine engine shown in Fig. 4,
Fig. 6 is the skeleton view of the embodiment of the FOD sieve corresponding with shown in Fig. 4 and Fig. 5,
Fig. 7 is the details of the rib of the supporting structure of the FOD sieve forming Fig. 6, and
Fig. 8 is the sectional view of the rib in Fig. 7.
Embodiment
The following description of example embodiment is with reference to accompanying drawing.
Following detailed description does not limit the present invention. On the contrary, the scope of the present invention is defined by the following claims.
Throughout specification sheets, quote concrete feature, structure or the characteristic that finger describes in conjunction with the embodiments of " embodiment " or " embodiment " are included at least one embodiment of disclosed theme. Therefore, phrase " in an embodiment " or " in an embodiment " run through the appearance of specification sheets in various position and not necessarily mean identical embodiment. And, concrete feature, structure or characteristic can be combined in one or more embodiment in any suitable manner.
With reference to Fig. 1, showing boat and change gas turbine engine, it is pointed out with reference to label 100 substantially. Arrow 1 represents the flow of air entering the bell sleeve pipe of gas turbine engine 100. The base components of gas turbine engine is compressor 3, burner 4 and turbine 5. Gas turbine engine 100 comprises axle 2, and this axle 2 drives the blade of compressor 3. Pressurized air heat by burner 4 and the hot gas expander of gained thus drive the blade of turbine 5, therefore make axle 2 rotate. As described, also comprising starter motor (not shown) in gas turbine engine 100, it is for operating gas turbine engine when starting and during off-line washing procedure.
Gas turbine engine sucks the large quantity of air comprising particle, and this particle can pollute compressor blade and quiet leaf. Before entering gas turbine engine, it is necessary to filter this air, to remove the air particles of the largest portion that can contribute to fouling. FOD sieve is arranged in pumping chamber 8 in the ingress of gas turbine engine, can mainly damage the blade of compressor 3 and those particles of quiet leaf to stop.
Even if use strainer, also it is difficult to avoid completely the deposition of the particle on the blade of compressor and quiet leaf and gathers, it is thus desirable to use regular washing operation, to recover the initial level of efficiency.
Realizing washing operation by series of spray nozzles, this series of spray nozzles sprays the wash fluid of atomization in the inside of gas turbine engine, normally water.
Fig. 2 and Fig. 3 illustrates the details of the washing system according to prior art.
In fig. 2, nozzle 7 is arranged in the bell sleeve pipe 6 of gas turbine engine, specifically by the region with reference to label mark.
Fig. 3 illustrates the inlet part of gas turbine engine, radially enters (from higher opening) at this place's air, and nozzle 7 is arranged on inner radial spiral case (radially contrary with bell sleeve pipe 6). Nozzle is located as follows: make wash fluid can enter and pass compressor, thus move towards machine exit and wash fouling by compressor and due to following situation: during washing operation, rotor 1) rotate under the lower velocity driven by starter motor when off-line washs, or its 2) rotate under full load when online washing.
The shortcoming of these prior art solution is due to the fact that and is arranged on the remarkable distortion that on the suction side not only can form inlet air stream to the nozzle on surface when they depart from from mounting surface, also can cause the blade of compressor and the major injury of quiet leaf.
Alternative solution is to be fixed to nozzle inlet plenum partition. In this case, wash fluid is injected in axial compressor, thus travels across import sieve. This kind of solution has the inferior position of lower detersive efficiency, because not to the direct wash fluid stream in compressor.
Fig. 4 and Fig. 5 illustrates that the import FOD being positioned at gas turbine engine 100 ingress sieves 30; Sieve 30 is positioned at inside pumping chamber 8.
Fig. 5 illustrates the sieve 30 in the front of the compressor 3 to be placed to gas turbine engine and bell sleeve pipe 6 and bullet front end.
Fig. 6 is the expection view of more detailed sieve 30.
Sieve 30 has the substrate being positioned at axial compressor 3 flow of air ingress. Sieve 30 also has lateral surface, and this lateral surface is expanded away from this substrate.
Sieve 30 has the shape of rotational symmetry. In the disclosure, word " shape of rotational symmetry " comprises any shape with the plane symmetry about the axial plane of any amount. Any plane definition of central axial line comprising compressor is for according to " axial plane " of the present disclosure
Preferably, sieve 30 has 3D shape, and this shape has substrate and lateral surface, for increasing the filtration capacity relative to basal region. Both side direction and substrate comprise the filtering net 19 being connected to supporting structure.
According to the first embodiment, filtering net 19 is only fixed in the substrate away from axial compressor 3 flow of air import of import sieve 30. According to the 2nd embodiment, filtering net 19 also can be fixed to the lateral surface of import sieve 30.
More preferably, the shape that sieve 30 has a cylindrical cup, as can in figure 6 seen by, and formed by filtering net and supporting structure thereof. This supporting structure comprises the first support ring 10 and the 2nd support ring 11, first support ring 10 is configured in the peripheral place of the cylindrical cup substrate of the flow of air import close to axial compressor 3, and the 2nd support ring 11 is configured in the peripheral place of another cylindrical cup substrate away from this axial compressor 3 flow of air import. Supporting structure is completed by a series of L-shaped ribs 12. L-shaped rib 12 is by one group of first parallel rib joint section 14 and is formed by one group of the 2nd rib joint section 15, this group the first parallel rib joint section 14 links two rings 10 and 11 being perpendicular to them, and this group of the 2nd rib joint section 15 is positioned in the plane limited by cylindrical cup substrate 11. The advantage of this class formation is, flow of air is had very limited impact by it, and this flow of air can be advanced through it and not be out of shape.
This support structure filtering net (19 in Fig. 8), filtering net is fixed to described structure by means of resin. This filtering net stops the dangerous objects that can enter compressor together with flow of air.
According to embodiments of the invention, nozzle and manifold for wash fluid are arranged on ring and rib, and this ring and rib form the supporting structure that import FOD sieves 30.
According to Fig. 6, ring 10 carries wash fluid manifold 13; Wash fluid manifold 13 extends along the ring 10 being embedded in resin, and this resin is also for fixing filtering net 19; One group of wash fluid conduit 17 follow rib structure from described manifold 13s and by wash fluid band to nozzle; Conducting piece 17 only arrives the intermediate point of the 2nd rib joint section 15 of convergence, and at this, nozzle 18 is terminated (as shown in Figure 7) by they with wash fluid nozzle 18 or.
Fig. 8 (with sectional view) illustrates the details of the first rib joint section 14 of carrying wash fluid conducting piece 17; First rib joint section 14 (and the 2nd rib joint section 15) has U shape profile and is filled with resin 20; Filtering net 19 is fixed to resin 20 by the extension of grid, as seen in the accompanying drawings; Wash fluid conducting piece 17 is imbedded in resin 20 completely.
Integrated in the supporting structure that washing system (i.e. nozzle and manifold) sieves in import compared with prior art has advantage, and namely washing system not to the more obstacles of inlet flow of fluid increase and does not make stream be out of shape. Washing system is placed in the front of compressor 3, specifically in the front of import.
Wash fluid can directly be injected compressor by nozzle, and if need, along the direction identical with the axial direction due of flow of air and be parallel to the axis of axial compressor.
In addition, some nozzles can construct as spreading nozzle. Spreading nozzle is configured to so that they can spray washing liq with mist. Other nozzles are injection nozzle, and it is configured to penetrate the solid jet of washing liq. According to described embodiment, spreading nozzle is used for online washing, and injection nozzle is used for off-line washing.
Nozzle and manifold are imbedded resin makes extremely impossible separating nozzle or manifold.
Manifold is connected to water supply system usually, and this water supply system can comprise the water of filtration, and it is finally distilled, processes and mixes with cleaning chemistry thing.
Can collect and the part of washing water of gas turbine engine is left in recirculation, after the dirt purging collection and process, to reuse as the washing water cleaned together with fresh water.
Import sieve and integrated washing system improve the efficiency of washing process, are not affected by flow of air, eliminate the risk of the foreign body that can enter and damage this axial compressor.
The per-cent that the stoppage time of this kind of system reduction gas turbine engine and raising (after washing) efficiency are recovered, has obvious economic interests.

Claims (17)

1., for a washing system for gas turbine engine (100), described gas turbine engine (100) has axial compressor (3), and described washing system comprises:
Import sieve (30); it is positioned at the flow of air ingress of described axial compressor (3); to protect described axial compressor (3) not damage by foreign body; described import sieve (30) comprises supporting structure (10,11,12) and is fixed to the filtering net (19) of described supporting structure (10,11,12)
The device of nozzle (18) and manifold (13,17), described device (13,17,18) is integrated in described supporting structure (10,11,12), and
Washing liq supply system (16), it is connected to described device (13,17,18);
Wherein, described import sieve (30) comprises substrate and lateral surface, and described substrate is positioned at the flow of air ingress of described axial compressor (3), and described lateral surface is away from the first substrate expansion and the shape with rotational symmetry.
2. washing system according to claim 1, wherein, described lateral surface has the shape of the rotational symmetry of the central axial line about described compressor.
3. washing system according to claim 1 and 2, wherein, described filtering net (19) is only fixed in the substrate of the flow of air import away from described axial compressor (3) of described import sieve (30).
4. washing system according to claim 1 and 2, wherein, described filtering net (19) is fixed in the substrate of the flow of air import away from described axial compressor (3) of described import sieve (30), and described filtering net (19) is also fixed to the described lateral surface of described import sieve (30).
5. washing system according to arbitrary aforementioned claim, wherein, described filtering net (19) is fixed to described supporting structure (10,11,12) by resin (20).
6. washing system according to claim 5, wherein, described nozzle (18) and described manifold (13,17) are embedded in described resin (20).
7. washing system according to arbitrary aforementioned claim, wherein, described import sieve (30) has the shape of cylindrical cup, and wherein, described supporting structure (10,11,12) comprising:
First support ring (10), it is configured in the peripheral place of the cylindrical cup substrate of the flow of air import close to described axial compressor (3),
2nd support ring (11), it is configured in the peripheral place of another cylindrical cup substrate of the flow of air import away from described axial compressor (3),
One group of L-shaped rib (12), the short segment (14) of described rib (12) is parallel and separates, link described ring (10,11), and the long segment (15) of described rib (12) is radially configured in described 2nd support ring (11) and is attached at its centre.
8. washing system according to arbitrary aforementioned claim, wherein, described nozzle (18) is configured to inject washing liq along the direction substantially parallel with the flow of air of the flow of air import towards described axial compressor (3) and the axis of described axial compressor (3).
9. washing system according to arbitrary aforementioned claim, wherein, some nozzles are spreading nozzle, and described spreading nozzle is configured to spray washing liq with mist, some nozzles are injection nozzle, and described injection nozzle structure becomes the solid jet of injection washing liq.
10. washing system according to claim 9, wherein, described spreading nozzle configuration and being arranged as only for online washing, and described injection nozzle configuration and be arranged as and only wash for off-line.
11. washing systems according to arbitrary aforementioned claim, wherein, described washing liq supply system (16) comprises the unit for filtering and/or process water and/or the unit for being mixed by water with cleaning substance.
12. washing systems according to arbitrary aforementioned claim, wherein, described washing liq supply system (16) comprises recirculation system, so that leaving the recirculation at least partially of the water of described gas turbine engine.
13. washing systems according to claim 12, wherein, water supply system (16) comprises the unit of the water for purifying recirculation.
14. 1 kinds of gas turbine engines, comprising:
Axial compressor (3);
Pumping chamber (8), it is positioned at the flow of air ingress of described axial compressor (3),
Import sieve (30); it is arranged in described pumping chamber (8), and to protect, described compressor (3) does not damage by foreign body; described import sieve (30) comprises supporting structure (10,11,12) and is fixed to the filtering net (19) of described supporting structure (10,11,12)
The device of nozzle (18) and manifold (13,17), and
Washing liq supply system (16), it is connected to described device (13,17,18) and is integrated in described supporting structure (10,11,12).
15. gas turbine engines according to claim 14, comprise the washing system according to arbitrary in claim 1 to 13.
The method of the axial compressor (3) of 16. 1 kinds of washing gas turbine engines (100), wherein, import sieve (30) is positioned at the flow of air ingress of described axial compressor (3), wherein, washing liq supply system (16) is integrated in described import sieve (30).
17. washing methodss according to claim 16, wherein, described washing liq supply system (16) is for washing online and/or washs for off-line.
CN201480060415.6A 2013-11-04 2014-10-30 Integrated washing system for gas-turbine unit Active CN105658933B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT000056A ITCO20130056A1 (en) 2013-11-04 2013-11-04 INTEGRATED WASHING SYSTEM FOR MOTOR WITH GAS TURBINE.
ITCO2013A000056 2013-11-04
PCT/EP2014/073320 WO2015063206A1 (en) 2013-11-04 2014-10-30 Integrated washing system for gas turbine engine

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CN105658933A true CN105658933A (en) 2016-06-08
CN105658933B CN105658933B (en) 2018-05-15

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EP (1) EP3066319B1 (en)
JP (1) JP6634013B2 (en)
KR (1) KR102256884B1 (en)
CN (1) CN105658933B (en)
BR (1) BR112016009046B8 (en)
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IT (1) ITCO20130056A1 (en)
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JP6634013B2 (en) 2020-01-22
ITCO20130056A1 (en) 2015-05-05
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KR102256884B1 (en) 2021-05-31
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BR112016009046B1 (en) 2022-03-15
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US20160273381A1 (en) 2016-09-22
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CN105658933B (en) 2018-05-15

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